Safe Path Planning of Mobile Robot in a known Dynamic Environment
Hasan Mujtaba1, Gajendra Singh2, Pallavi Gupta3
1Hasan Mujtaba, Department of ECE, Sharda University, Greater Noida (Uttar Pradesh) India.
2Dr. Gajendra Singh, Professor & Dean Academic, ABESEC Ghaziabad (Uttar Pradesh) India.
3Dr. Pallavi Gupta, Associate Professor, Department of ECE, Sharda University, Greater Noida (Uttar Pradesh) India.
Manuscript received on November 22, 2019. | Revised Manuscript received on December 15, 2019. | Manuscript published on December 30, 2019. | PP: 2434-2439 | Volume-9 Issue-2, December, 2019. | Retrieval Number: B3904129219/2019©BEIESP | DOI: 10.35940/ijeat.B3904.129219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Path planning in mobile robot navigation is an advanced method of calculating the safe and obstacle free path in static and dynamic environments are involved between source point to destination. Real time path planning method defines that how a robot can make a decision when some unknown obstacle gets encountered in the path of navigation for a dynamic situation. At the point when an obstruction comes in the way of route, the robot must choose another and safe way to advance towards the objective by evading any impact. This study is focused on exploring the algorithm that gives the safe and shortest path when an obstacle changes the environment. By using A* algorithm in MATLAB simulation the probability of collision with obstacle and robot get increased. In this simulation work a new approach of path planning has been found by placing the virtual obstacles in the environment. A new obstacle get influence in the path of navigation, using virtual obstacle boundary around the new obstacle a short and safe path get evaluated which is collision free or low risk path . The purpose for this paper is to create a dependable and smooth direction in a real time domain with impediments and to manage the robot towards the target without hitting the obstacles also considering the size of the robot.
Keywords: Safe navigation, A* algorithm, Path planning, Virtual obstacles.